Leases, Other supplemental data related to operating leases (Details) - USD ($) $ in Millions	12 Months Ended
	Dec. 31, 2023	Dec. 31, 2022	Dec. 31, 2021
Leases
Cash paid for amounts included in the measurement of lease liabilities: Operating cash flows from operating leases	$ 114.3	$ 109.3	$ 103.2
Right-of-use assets obtained in exchange for lease liabilities	$ 115.2	$ 164.5	$ 121.5
Weighted Average Remaining Lease Term	5 years	5 years	5 years
Weighted Average Discount Rate	3.60%	2.70%	2.20%